Resumen

QUIROGA PEREZ, Natalia Leonila  y  CALLA DURANDAL, Edwin. Control system for robotic hand to replicate movements to manipulate chemical substances. RevActaNova. [online]. 2019, vol.9, n.1, pp.82-114. ISSN 1683-0789.

This project helps performance in chemical laboratories, in order to reduce work accidents and diseases in the short and long term. The process of realization of the robot consists of four fundamental parts. The mechanical system, the electrical system, the hand movement recognition system and the control system. The objective of this project is to make a control system for the robot replicator of movements to manipulate chemicals. Therefore, we analyzed the movements that can be made by a hand, concluding that there are four fundamental types of subjection. The mathematical model of each type of equipment was determined with the help of the PIPIMC and Matlab software. Therefore, the transfer functions are calculated and perform the four proportional - integral IMC controllers (PI-IMC), from the IMC control technique (internal model controller). Finally, the controller was included in the robot's main program. This improved the accuracy and response time of the robot.

Palabras clave : Robot; hand; control system; controller; replicate; PI-IMC.

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